Vehicle Obstacle Avoidance Control With Segmented Route Planning
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Solution Overview
Problem
Conventional obstacle avoidance systems in vehicles without rear cameras or radars struggle to accurately detect approaching vehicles and maintain precise vehicle positioning, leading to potential instability and driver anxiety during obstacle avoidance due to actuator delays and dynamic characteristics.
Innovation Solution
A vehicle control device that includes units for calculating vehicle position, determining obstacles, selecting between braking or steering for avoidance, and calculating control values for precise obstacle avoidance routes, divided into partial sections to compensate for actuator delays and ensure stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single avoidance route is calculated to pass the closest point to the obstacle, then the avoidance maneuver is completed, but the vehicle remains in an unstable state which gives the driver a sense of serious anxiety
Solution Approach 1:
The avoidance route is divided into multiple candidate routes (first avoidance route passing left of obstacle, second avoidance route passing right of obstacle) instead of a single route. The system segments the decision space and allows dynamic selection based on real-time conditions, providing both efficiency and stability.
Solution Approach 2:
The system dynamically switches between different avoidance routes based on real-time vehicle state and obstacle conditions. The route selection is not fixed but adapts to changing conditions, maintaining vehicle stability while achieving efficient avoidance.
2Loss of time
If conventional route calculation methods are used, then the avoidance route is calculated quickly, but the vehicle cannot correctly trace the route due to actuator dead time and delay in response
Solution Approach 1:
The system performs preliminary calculations of multiple candidate avoidance routes in advance, before the actual avoidance maneuver is needed. This preparation allows the vehicle to quickly select and execute the appropriate route without delay, compensating for actuator response time.
Solution Approach 2:
The system continuously monitors vehicle position and trajectory during avoidance execution, using feedback to determine whether the vehicle is correctly tracing the calculated route. This real-time feedback allows for corrective actions to maintain precision despite actuator delays.
Data Source
AI summary
A vehicle control device includes a vehicle position calculating unit, an obstacle determining unit, a collision possibility determining unit, an avoidance means selecting unit, an avoidance route calculating unit, and a steering control value calculating unit that calculates a steering control value and that outputs the steering control value to a steering actuator control unit. The avoidance route calculating unit calculates a target point for avoiding the obstacle, divides an avoidance section connecting the position of the vehicle to the target point into a plurality of partial sections, calculates a partial avoidance route in each of the partial sections, and calculates the avoidance route made up of the plurality of partial avoidance routes.